The 2007 Annual General Meeting of the Royal Institute of Navigation was particularly significant; not only did it celebrate the 60th anniversary of the founding, but also celebrated the granting of the Royal Charter of Incorporation to the Institute by Her Majesty Queen Elizabeth II. Our President, Professor David Last, marked the occasion with his Presidential Address which is recorded here.

Thanks to its physical characteristics, Ultra-wideband (UWB) is one of the most promising technologies for indoor pedestrian navigation. UWB radio localisation systems however experience multipath phenomena that decrease the precision and the reliability of the user's location. To cope with complex indoor environments, UWB radio signals are coupled with inertial measurements from Micro Electro Mechanical Sensors (MEMS) in an extended Kalman filter. Improved performances of the filter are presented and compared with reference trajectories and with pure inertial solutions. Only specific selection methods enable this improvement by detecting and removing outliers in the raw localisation data.

This paper proposes an airborne transceiver system as an alternative navigation system and a triangulation method using bidirectional range measurements as a method of transceiver position determination. We suggest several system arrays that can estimate each mobile transceiver position in real time. We found that our suggested alternative navigation system working in a 700 km×900 km region is feasible using only 10 transceivers at an altitude of 42 km, furthermore its performance can compete with that of Galileo's Open Service. This paper will contribute to the establishment of an alternative or backup navigation system with modest expenditure and a short development period, and which is independent of GPS.

A review of existing knowledge regarding how to manage ice during offshore work in cold waters has been carried out. The objective has been to contribute to increased safety and efficiency in future projects by learning from world-wide experiences. It was found that offshore drilling has been carried out in a wide range of ice conditions and at water depths spanning from five metres to more than a thousand metres. Icebergs in open waters have been handled safely over several years and the possibility of detecting icebergs is considered good. With respect to icebergs frozen in sea ice, both detection and deflection is considered difficult and the technology for doing so is not proven. Good ice management systems are considered to represent the main factors for operating successfully in the covered waters. Future work should focus on how to include the effect of ice management statistically in a design process.

Squadron Leader Douglas Fraser, a Fellow and Life Member of the Institute holding RIN membership number 6, was one of the founder members joining when the Institute was formed on 25th June 1947. Sixty years later, on Friday 29th June 2007, at our first Annual General Meeting since being granted our Royal Charter, he was invited by our President to make a short presentation on the birth of our Institute. Squadron Leader Fraser was unable to travel from his home to attend the AGM in person, but with great foresight had planned for such an eventuality and prepared a short video of his speech. This paper is a verbatim account of his message.

In the last decades, robust estimation has been widely applied to overcome the presence of gross errors in observations. Recently it has been shown that robust estimation, if computed appropriately, is able to cope with a larger amount of gross errors and also capable of providing reliable estimations in situations where systematic errors are present. It is the purpose of this paper to propose the use of global robust estimation for computing baselines strongly affected by multipath effects.

SESAR is Europe's ‘Single European Sky Air traffic Research system’. NextGen is the USA's ‘Next Generation Air Transport System’. SESAR and NextGen are developments targeted at post 2020. The common vision is to integrate and implement new technologies to improve air traffic management (ATM) performance – a ‘new paradigm’. SESAR and NextGen combine increased automation with new procedures to achieve safety, economic, capacity, environmental, and security benefits. The systems do not have to be identical, but must have aligned requirements for equipment standards and technical interoperability.

A key component is a ‘cooperative surveillance’ model, where aircraft are constantly transmitting their position (from navigational satellites), flight path intent, and other useful aircraft parameters – known as ADS-B (Automatic Dependent Surveillance-Broadcast). The focus for planning and executing system operations will increasingly be aircraft 4D trajectories: a 4D trajectory is the aircraft path, three space dimensions plus time, from gate-to-gate, i.e. including the path along the ground at the airport.

In analysing potential major ATM system changes, a simple division into five Key Test areas might be: Safety Credibility, Operational Concept, Technological Feasibility, Benefits and Costs, and Transition Path. The main attention here is on Benefits and Costs of SESAR. The strategic challenge will be to convince customers and stakeholders of the benefits of paradigm shift expenditure, given the associated impacts on future user charges, aircraft equipment investments and public expenditure. The analysis here shows that the existing cost benefit analysis results for SESAR are not particularly robust, possibly over-estimating Net Present Values by some tens of € billions.

With the widespread use of mobile devices and increased demand for mobile services, Location-Based Services (LBS) represent a promising addition to service offerings of network operators as well as third-party service providers. Based on long-term research in LBS, our group has proposed a generic Enhanced LBS Reference Model (ELRM), which describes the concept, the architecture and the functionalities of the LBS. In addition, an evolutionary information process has been identified within the LBS, that represents knowledge maturity from position awareness to situation awareness. Both the ELRM and the information evolution process in LBS are presented in this article and illustrated by a case study within the framework of the 3GPP-standardised IP Multimedia Subsystem (IMS). This case-study emphasises the opportunities for navigation- and LBS-related solutions development provided by modern telecommunication technologies.

The modernisation of GPS and the introduction of Galileo will introduce the use of Binary Offset Carrier (BOC) modulation. BOC will be implemented as either a sine or cosine sub-carrier modulation, which affects the spectral properties of the signal and the receiver search, acquisition and tracking processes. This paper addresses the effect of the various forms of BOC modulation on the receiver search process. Theory is developed to draw comparisons between search techniques and verified with computer simulation models.

Future air traffic management will require a variety of automated decision support tools to provide conflict-free trajectories and their associated error margins. The ability to correctly forecast aircraft trajectories, i.e. trajectory prediction, is the central component of such automated tools, which will enable continued provision of safe and efficient services in increasingly congested skies. Current approaches for trajectory prediction, available in the open literature, make a number of assumptions in order to simplify the mathematical models of aircraft motion. Furthermore, many existing methods perform three-dimensional trajectory prediction, in which information on expected times of arrival at significant points along the intended aircraft route is not considered. This results in inaccurate trajectories not suitable for conflict detection and resolution. This paper presents a novel four-dimensional trajectory prediction scheme that makes full use of data on expected times of arrival. A three dimensional point-mass model for a standard civil aircraft is used to emulate aircraft dynamics, while the aircraft operating mode is characterised through a set of discrete variables. The aircraft performance model used relies on the EUROCONTROL Base of Aircraft Data (BADA) set and the computed trajectory accounts for the effects of wind. Inputs include navigation data and aircraft intent information, which unambiguously define the trajectory to be computed according to the flight plan. In the proposed model, aircraft intent information is summarised in a simple, but effective, set of instructions contained in a Flight Script. Furthermore, two key innovations to trajectory prediction are introduced. Firstly, a novel scheme to emulate the control system used for aircraft lateral guidance is proposed and secondly, on the basis of aircraft intent information, a new procedure to estimate speed is presented. The performance of the enhanced trajectory model proposed is quantified using a detailed operational dataset (real flight data) captured in a European airspace. The results show that, over an extended time-horizon, the enhanced model is more accurate than two representative existing methods, and that it is suitable for reliable trajectory prediction.

Real-time and near real-time precise GPS positioning requires shorter GPS solution convergence time. Residual tropospheric delay, which exists as a result of the limitations of existing tropospheric correction models, is a limiting factor for quick GPS solution convergence. This paper proposes a new approach to tropospheric delay modelling, which overcomes the limitations of existing models. In this approach, the bulk of the tropospheric delay is accounted for using the NOAA-generated tropospheric correction model, while the residual tropospheric delay component is accounted for stochastically. First, the NOAA tropospheric correction model is used to generate daily time series of zenith total tropospheric delays (ZTDs) at ten IGS reference stations spanning North America for many days in 2006. The NOAA ZTDs are then compared with the new highly-accurate IGS tropospheric delay product to obtain daily residual time series at 5 minute intervals. Finally, the auto-covariance functions of the daily residual tropospheric delay series are estimated at each of the ten reference stations and then used to find the best empirical covariance function in the least squares sense. Of the three potential covariance functions examined, it is shown that the exponential cosine function gives the best fit most of the time, while the second-order Gauss-Markov model gives the worst fit. The first-order Gauss-Markov fits are close to those of the exponential cosine. Additionally, the model coefficients seem to be season independent, but change with geographical location.

This work investigates the utilisation of Particle Swarm Optimisation (PSO) for the non-deterministic navigation of Unmanned Aerial Vehicles (UAVs), allowing them to work cooperatively toward the goal of protecting a wide area against airborne attack. To negate the PSO's inherent weakness in dynamic environments, a neighbourhood scheme is proposed that not only enables the efficient interception of targets several times faster than the UAVs but also facilitates the maintenance of effective airspace coverage. Empirical results suggest that these techniques may indeed be of use in autonomous navigation systems for UAVs in air defence roles.

A version of this paper was presented at ENC-GNSS 2007, Geneva. Its reproduction was kindly authorised by the ENC-GNSS 07 Paper Selection Committee.

The General Lighthouse Authorities of the UK & Ireland commissioned an assessment of the impact that the integration of Global Navigation Satellite Systems (GNSS) with Inertial Navigation Systems (INS) would have on the aids to navigation (AtoN) services currently provided, and those to be provided in the future. There is concern about the vulnerability of GNSS, and the provision of complementary and backup systems is seen to be of great importance. The integration of INS could provide an independent and self-contained navigation system, for a limited time period, invulnerable to external intentional or unintentional interference, or the influences of changes in national policies. The study included an analysis of the potential use of GNSS-INS in three of the four phases of a vessel's voyage: coastal, port approach and docking. The project consisted of a technology assessment, looking at the different inertial technologies that might be suitable for each phase. This was followed by a technology proving stage, evaluating suitable equipment using simulation and field trials to prove that the claimed performance could be achieved in practice. The final stage of the project was to assess the effects of the availability of such systems on existing and planned aids to navigation services.

In recent months the US and the EU have agreed to change the modulation scheme for the new civil GPS and Galileo signals in the L1 band from Binary Offset Carrier (1,1) (BOC(1,1)) to a scheme having the so-called Multiplexed Binary Offset Carrier (MBOC) spectrum, although each system will implement this differently. This paper compares the performance of the new system in a number of areas against the original baseline. It is shown that the MBOC signal offers significant advantages in multipath and tracking performance, while retaining compatibility with BOC(1,1) receivers at the cost of a small correlation loss.

This paper presents development and application of a real-time virtual differential map-matching approach which makes use of the slow drifting property of the GPS errors and the continuous and gradual evolving characteristic of map errors to improve the accuracy and computational efficiency. A differential vector is created to approximate the real-time deviation, which is corrected continuously along with the vehicle movement during the map-matching process. Real-life application of the algorithm to the City of Hefei, a metropolis of China, shows that it corrects both GPS errors and digital map errors reasonably well with improved computational efficiency.

This article presents efficient and practical methods for path planning of optimal interceptions on two-dimensional grids with obstacles, such as raster charts or non-distorted digital maps. The proposed methods search for optimal paths from sources to multiple moving-targets by a novel higher geometry wave propagation scheme in the grids, instead of the traditional vector scheme in the graphs. By introducing a time-matching scheme, the optimal interception paths from sources to all the moving-targets are obtained among the combinations with linear time and space complexities. Two optimal path planning methods for multiple one-to-one interceptions, the MIN-MAX and MIN-AVG, are applied to emulate the real routing.

Many ingenious mechanical methods were used by hydrographic surveyors for measuring the depth of water in the early part of the 20th Century. These were superseded by echo-sounding and sonar techniques in the later decades. Relatively few of the mechanical methods were used by merchant ships but, in the years before radar and satellite navigation, they, and the increasingly popular echo sounder, had a useful place in the navigator's armoury of navigation aids. This paper is not intended to provide a detailed description of the development of sounding devices. Sections 1 to 5 simply outline the principles of the sounding devices with which the authors were familiar during their time at sea. In Sections 6 to 9 the authors recount their anecdotal experiences of the way in which they, personally, used depth measuring devices during the middle years of the 20th century.

In densely-populated cities or indoor environments, limited visibility to satellites and severe multipath effects significantly affect the accuracy and reliability of satellite-based positioning systems. To meet the needs of “seamless navigation” in these challenging environments an advanced terrestrial positioning system is under development. This system is based upon Ultra-Wideband (UWB) technology, which is a promising candidate for this application due to good time domain resolution and immunity to multipath. This paper presents a detailed analysis of two key aspects of the UWB signal design that will allow it to be used as the basis of such a high performance positioning system: the modulation scheme and the multiple access technique. These two aspects are evaluated in terms of spectral efficiency and synchronisation performance over multipath channels. Thus this paper identifies optimal modulation and multiple access techniques for a long range, high performance terrestrial positioning system using UWB.

The E5/L5 frequency band for the new Global Navigation Satellite System (GNSS) signals is crowded with aeronautical pulsed emitters. This results in severe degradation of the performance of GNSS receivers. This paper describes a novel technique for estimating and suppressing time-varying pulsed interference signals such as the Distance Measuring Equipment (DME)/Tactical Air Navigation (TACAN) signals generated by these pulsed emitters. The proposed technique involves the integration of the time-based pulse blanker and the wavelet-based interference mitigation technique. Aviation is the key application considered although many other applications such as transport management and navigation, environmental monitoring, and telecommunications would benefit. A performance assessment of the new technique is carried out by determining the degradation of the carrier-to-noise ratio (CNR) at the output of the correlator. The performance of the new technique is compared with the traditional time domain pulse blanking approach. The results show that the proposed technique performs better than both the time domain pulse blanker and the wavelet-based interference mitigation algorithm. Hence, the integrated pulse mitigation approach can be employed to provide an enhanced degree of interference detection and suppression.

The Hatch filter is a code-smoothing technique using integrated carrier phase observations. It is an easy technique that non-experts can use to reduce receiver noise on the pseudorange. This paper suggests a new algorithm for the optimal Hatch filter whose smoothing window width varies adaptively depending on the regional, diurnal and seasonal ionospheric variation and satellite elevation angle. We consider both quiet and storm conditions of the ionosphere. Using the well-known quiet ionospheric model, a conservative boundary value for ionospheric storm and the receiver noise statistics function of the satellite elevation angle, this algorithm can mathematically solve the optimal averaging constant for each satellite in every epoch. From a 24 hr data process result and real-time experiment, we found that the position accuracy of the optimal Hatch filter is better and more robust than that of the traditional Hatch filter. The optimal Hatch filter algorithm and its results are expected to provide a new solution for a single-frequency DGPS receiver and a thorough understanding of the relationship between the position error and the averaging constant. Furthermore, a DGPS user who applies this algorithm to a low-cost single-frequency receiver can obtain a more accurate and robust position result than via the classical Hatch filter.